rgb_decomposer.cpp
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2015, JSK Lab
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/o2r other materials provided
00017  *     with the distribution.
00018  *   * Neither the name of the JSK Lab nor the names of its
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00020  *     from this software without specific prior written permission.
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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035 
00036 
00037 #include "jsk_perception/rgb_decomposer.h"
00038 #include <boost/assign.hpp>
00039 #include <jsk_topic_tools/log_utils.h>
00040 #include <sensor_msgs/image_encodings.h>
00041 #include <cv_bridge/cv_bridge.h>
00042 #include <opencv2/opencv.hpp>
00043 
00044 namespace jsk_perception
00045 {
00046   void RGBDecomposer::onInit()
00047   {
00048     DiagnosticNodelet::onInit();
00049     pub_r_ = advertise<sensor_msgs::Image>(*pnh_, "output/red", 1);
00050     pub_g_ = advertise<sensor_msgs::Image>(*pnh_, "output/green", 1);
00051     pub_b_ = advertise<sensor_msgs::Image>(*pnh_, "output/blue", 1);
00052     onInitPostProcess();
00053   }
00054 
00055   void RGBDecomposer::subscribe()
00056   {
00057     sub_ = pnh_->subscribe("input", 1, &RGBDecomposer::decompose, this);
00058     ros::V_string names = boost::assign::list_of("~input");
00059     jsk_topic_tools::warnNoRemap(names);
00060   }
00061 
00062   void RGBDecomposer::unsubscribe()
00063   {
00064     sub_.shutdown();
00065   }
00066 
00067   void RGBDecomposer::decompose(
00068     const sensor_msgs::Image::ConstPtr& image_msg)
00069   {
00070     if ((image_msg->width == 0) && (image_msg->height == 0)) {
00071         ROS_WARN("invalid image input");
00072         return;
00073     }
00074     cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(
00075       image_msg, image_msg->encoding);
00076     cv::Mat image = cv_ptr->image;
00077     if (image_msg->encoding == sensor_msgs::image_encodings::RGB8) {
00078       cv::cvtColor(image, image, CV_RGB2BGR);
00079     }
00080     std::vector<cv::Mat> bgr_planes;
00081     cv::split(image, bgr_planes);
00082     cv::Mat red = bgr_planes[2];
00083     cv::Mat blue = bgr_planes[0];
00084     cv::Mat green = bgr_planes[1];
00085     pub_r_.publish(cv_bridge::CvImage(
00086                      image_msg->header,
00087                      sensor_msgs::image_encodings::MONO8,
00088                      red).toImageMsg());
00089     pub_g_.publish(cv_bridge::CvImage(
00090                      image_msg->header,
00091                      sensor_msgs::image_encodings::MONO8,
00092                      green).toImageMsg());
00093     pub_b_.publish(cv_bridge::CvImage(
00094                      image_msg->header,
00095                      sensor_msgs::image_encodings::MONO8,
00096                      blue).toImageMsg());
00097   }
00098 }
00099 
00100 #include <pluginlib/class_list_macros.h>
00101 PLUGINLIB_EXPORT_CLASS (jsk_perception::RGBDecomposer, nodelet::Nodelet);


jsk_perception
Author(s): Manabu Saito, Ryohei Ueda
autogenerated on Sun Oct 8 2017 02:43:23